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2013 IEEE International Conference on robotics and Biomimetics, ROBIO 2013

作者： Han, Feng Liu, Yu Sun, Kui Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Zip 150080 China

ISBN: (纸本)9781479927449

There are many space servicing tasks for space robots. With a single end effector, the space robot even can not meet the operation requirements of individual task. The space robot system has a self-relocating main manipulator arm and a dexterous robot arm to perform the tasks. To mount/de-mount payloads and tools, interfaces between the end effector and payloads/tools are standardized using grapple fixtures. An end effector and its grapple fixtures constitute an interchangeable device. According to the requirements, three interchangeable devices have been developed based on the different alignment features. Their comparisons indicate that the latest interchangeable device is for the main manipulator and also for the dexterous manipulator with the second. © 2013 IEEE.

关键词： End effectors

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Jumping performance analysis of a frog-inspired robot based on trajectory planning

Jumping performance analysis of a frog-inspired robot based ...

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2013 IEEE International Conference on Information and Automation, ICIA 2013

作者： Wei, Zhang Jizhuang, Fan Jun, Zhong Hegao, Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479913343

In order to achieve jumping performance similar with real frog, the frog-inspired robot is required to reach some velocity in takeoff phase. In this paper, trajectory planning method is introduced to analyze jumping performance under different takeoff velocities. Firstly, the kinematic model was built, and the dynamic equation was established using Lagrangian method. Then, aimed at minimum joint torques in takeoff phase, the trajectory planning simulation was carried out with the constraints including different takeoff velocities. The results show that the simulation was conducted in almost the same initial and takeoff positions, and joint motion patterns and joint torques can be analyzed under different takeoff velocities. © 2013 IEEE.

关键词： Kinematics

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A dynamical system-Markov model for active postsynaptic responses of muscle spindle afferent nerve

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Chinese Science Bulletin 2013年第9期58卷 603-612页

作者： CHEN Xing YIN YueHong State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong University

Motoneuron is the control unit of skeletal muscles,and the dynamic frequency-regulating feedback from the afferent nerve of receptors like muscle spindles forms the physical basis of its closed-loop *** on the synapses of muscle spindle afferents,this paper established a dynamical system-Markov model starting from presynaptic stimulations to postsynaptic responses,and further verified the model via comparisons between theoretical results and relevant experimental *** the purpose of describing the active features of dendritic membrane,we employed the methods of dynamical systems rather than the traditional passive cable theory,and identified the physical meaning of parameters *** the dynamic behavior of postsynaptic currents,we adopted simplified Markov models so that the analytical solutions for the open dynamics of postsynaptic receptors can be *** model in this paper is capable of simulating the actual non-uniformity of channel density,and is suitable for complex finite element analysis of neurons;thus it facilitates the exploration of the frequency-regulating feedback and control mechanisms of motoneurons.

关键词：马尔可夫模型动力学系统传入神经突触前肌梭反应运动神经元极性

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Vision-based Semantic Unscented FastSLAM for mobile robot

Vision-based Semantic Unscented FastSLAM for mobile robot

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World Congress on Intelligent Control and Automation (WCICA)

作者： Letian Liu Xiaorui Zhu Yongsheng Ou State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Shenzhen Graduate School Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China Department of Mechanical Engineering and Mechanics Chinese Academy of Science Bethlehem Guangdong China

This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM) algorithm for mobile robot combing the semantic relationship and the unscented FastSLAM. The landmarks are detected by a binocular vision, and the semantic observation model can be created by transforming the semantic relationships into the semantic metric map. Semantic Unscented FastSLAM can be used to update the localization of the landmarks and robot pose even when the encoders inherits large accummative errors that may not be corrected by the loop closure detection of the vision system Experiments have been carried out to demonstrate that the Semantic Unscented FastSLAM algorithm can achieve much better performance in indoor autonomous survalience than Unscented FastSLAM.

关键词： Semantics Measurement Simultaneous localization and mapping Vectors Estimation

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CT based three dimensional geometric model of cervical spine

CT based three dimensional geometric model of cervical spine

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2nd International Conference on Innovation Manufacturing and Engineering Management, IMEM 2012

作者： Yan, Zhiyuan Wu, Dongmei Zhang, Litao Zhao, Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9783037855881

In order to obtain high-quality analytical results of the finite element model, it is essential to construct a three dimensional geometric model. The paper reconstructed an accurate three dimensional geometric model of cervical spine segments (C4-C7). The process of reconstruction included three-dimensional reconstruction, smooth processing, contour generation, grid generation and fitting surface. Moreover, the result of reconstruction was evaluated ultimately. The model was validated to be smooth and reasonable, and could meet the requirements of finite element analysis. The method is not merely applied to reconstruct the geometric model of the cervical spine. It is a way to construct the model of the skeletal system of the human body. © (2013) Trans Tech Publications, Switzerland.

关键词： Three dimensional computer graphics

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Biomechanical analysis of cervical finite element model

Biomechanical analysis of cervical finite element model

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2nd International Conference on Innovation Manufacturing and Engineering Management, IMEM 2012

作者： Wu, Dongmei Zhang, Litao Zhao, Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9783037855881

The finite element method is often used in the field of biomechanical analysis. It can study the mechanical response of the internal organization without any experiments on the human body. The paper studies the biomechanics of the cervical spine by the method of finite element analysis. Firstly, the finite element model of the cervical spine including cervical vertebrae and soft tissue is constructed. Secondly, biomechanical analysis of cervical finite element model which is validated to be reasonable and reliable is completed. The results of the control group, the anterior cervical decompression and fusion surgery group, and the artificial cervical disc replacement surgery group are obtained to study the motion degree and ligament force of cervical spine. Thirdly, the summary of the biomechanical analysis of cervical finite element model is concluded. © (2013) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Sliding Mode Control with Nonlinear Disturbance Observer for a Class of Underactuated system

Sliding Mode Control with Nonlinear Disturbance Observer for...

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第三十二届中国控制会议

作者： HUANG Jian DING Feng WANG Yongji State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Control Science and Engineering Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

In this study,a sliding mode controller based on nonlinear distnrbance observer is investigated to control a class of underactnated system which is in cascaded *** using strict feedback,the underactnated system is presented as a special cascade normal form convenient for controller design.A sliding mode controller is designed to stabilize underactnrated plant directly and drive the variables to the sliding *** order to improve performance and robustness,a nonlinear disturbance observer was designed to compensate for external disturbances and model *** theoretical results axe illustrated by simulations on the *** simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： underactuated system cascaded form sliding mode control nonlinear disturbance observer

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Force feedback time prediction based on neural network of MIS Robot with time delay

Force feedback time prediction based on neural network of MI...

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IEEE International Conference on robotics and Biomimetics

作者： Y. Ning L. L. Han Z. R. Xiao B. G. Liu Department of Electrical Engineering State Key Laboratory of Robotics and System (HIT) Henan University of Technology Zhengzhou China Department of Mechanical & Electrical Engineering Henan University of Technology Zhengzhou China School of Cicil Engineering & Architecture Henan University of Technology Zhengzhou China

ISBN: (纸本)9781479973989

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.

关键词： Manipulators Force feedback Force Biological neural networks Delay effects

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Development of a nanomanipualtion system for handling nanowires

Development of a nanomanipualtion system for handling nanowi...

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14th Annual Conference and the 3rd International Conference of the Chinese Society of Micro-Nano Technology, CSMNT 2012

作者： Zhang, Shizhong Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin 150080 China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9783037857397

A compact and versatile nanomanipulation platform and its dirve-control system are being developed. This nanomanipulation sytem is aimed to handle nanowires (NWs) and fabricate nanostructures by NWs in a Scanning Electron Microscope (SEM). The excellent performance of the compact manipulator developed with corase and fine positioning in one unit has been demonstrated, which shows that the resolution is 8 nm and the steps are from 50 nm to 0.8 μm. For the power supply of the manipulator, a three-output driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The planar push-and-lift handling of NWs is carried out by the use of two tips to demonstrate the capability of the nanomanipulation sytem inside SEM. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： Nanowires

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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